绞刀齿空间位置和姿态的定位技术  

Positioning technology of space position and pose of cutter tooth

作　　者：苏召斌 张润喜 林森 刘俸麟 王永远 SU Zhao-bin;ZHANG Run-xi;LIN Sen;LIU Feng-lin;WANG Yong-yuan(CCCC Tianjin Dredging Co.,Ltd.,Tianjin 300461,China;Tianjin Key Laboratory for Dredging Engineering Enterprises,Tianjin 300457,China)

机构地区：[1]中交天津航道局有限公司,天津300461 [2]天津市疏浚工程技术企业重点实验室,天津300457

出　　处：《水运工程》2018年第12期208-211,共4页Port & Waterway Engineering

基　　金：国家重点研发计划项目(2017YFC0805308)

摘　　要：绞刀在制作完成以后或者齿座在修复以后,刀齿的位置和姿态都难以被检验,主要原因是传统方法难以对绞刀齿进行准确的空间定位。从检验装置获得了定位点的坐标,然后以中间坐标系为纽带,推导刀齿在基准状态和空间状态的两个坐标系的复合变换关系,并得出变换矩阵的表达形式,建立绞刀齿空间位置和姿态的表达方法,解决了绞刀齿空间定位的问题。结果表明,该技术能够快速进行刀齿的空间定位,能够用于绞刀制作后或者齿座修复后的刀齿位置和姿态检验。The position and pose of the tooth are difficult to be tested after the completion of the cutter or the reparation of the adapter.The traditional method is difficult to accurately locate the cutter tooth.Based on the fixed point coordinates provided by the inspection device,we deduce the blade in the benchmark and space state of composite transformation between two coordinate systems with middle coordinate system,obtain the expression form of transformation matrix,establish the spatial position and pose of the cutter,and solve the problem of the cutter tooth space positioning.The results show that the technology can be used for the space positioning of the tooth quickly,and can be used for the position and pose of the tooth after the cutter is made or the adapters are repaired.

关 键 词：绞刀 刀齿 欧拉角 坐标变换 定位 

分 类 号：U616[交通运输工程—船舶及航道工程]